Analysis and design on intervehicle distance control of autonomous vehicle platoons

Jilie Zhang; Tao Feng; Fei Yan; Shaojie Qiao; Xiaomin Wang

doi:10.1016/j.isatra.2019.12.007

Analysis and design on intervehicle distance control of autonomous vehicle platoons

ISA Trans. 2020 May:100:446-453. doi: 10.1016/j.isatra.2019.12.007. Epub 2019 Dec 23.

Authors

Jilie Zhang¹, Tao Feng², Fei Yan¹, Shaojie Qiao³, Xiaomin Wang¹

Affiliations

¹ School of Information Science and Technology, Southwest Jiaotong University, Chengdu, Sichuan, 610031, China.
² School of Information Science and Technology, Southwest Jiaotong University, Chengdu, Sichuan, 610031, China. Electronic address: sunnyfengtao@163.com.
³ School of Software Engineering, Chengdu University of Information Technology, Chengdu, Sichuan, 610225, China.

PMID: 31883686
DOI: 10.1016/j.isatra.2019.12.007

Abstract

This paper presents an intervehicle distance control (IDC) to solve the problem of autonomous vehicle platooning, motivated by future automated highway system (AHS) or smart road which is proposed as intelligent transportation system (ITS) technology. First the velocity and position control of the single vehicle is studied based on internal model compensator. And then the platooning problem on multiple vehicles is solved in the light of multiagent concept. Moreover, the platoon condition is derived for the corresponding scheme. Further we analyze the influence of controller parameters on the whole system, and propose the guidance for parameter design. Finally some simulations are used to verify the effectiveness of the proposed IDC scheme with an analysis on controller parameters.

Keywords: Autonomous vehicle; Intervehicle distance control; Platoons.